#ifndef __FIVE_POINT_GRADIENT_DESCENT__
#define __FIVE_POINT_GRADIENT_DESCENT__

#include <mc_path_planner/path_smoother/smooth_base.h>

// 五点中值梯度下降
// https://blog.csdn.net/weixin_43879302/article/details/116092810
// https://blog.csdn.net/qq_35635374/article/details/138291015

class FivePointGradientDescent : public SmoothBase{
    public:
        FivePointGradientDescent(boost::shared_ptr<MapBase> map_handler_ptr);
        ~FivePointGradientDescent();

        // 路径平滑函数
        void smoothPath(vector<Point2f>& points_in, vector<Point2f>& points_out);         
};


#endif